added forbidden zones

src/navigation/PathFinder.cpp

@@ -246,6 +246,7 @@ void PathFinder::loadConfig(const std::string& configPath, const std::string& zi
             NavigationArea area;
             area.name = item.value("name", "");
             area.available = item.value("available", true);
+            area.forbidden = item.value("forbidden", false);
             area.polygon = readPolygon(item);
 
             if (area.name.empty()) {
@@ -314,10 +315,44 @@ void PathFinder::resetGridBounds()
     gridDepth = static_cast<int>(std::ceil((maxZ - minZ) / cellSize));
 }
 
-void PathFinder::rebuildWalkableGrid()
+/*void PathFinder::rebuildWalkableGrid()
 {
     walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
     markAvailableAreasWalkable();
+    markObstacleMeshesBlocked();
+}*/
+void PathFinder::rebuildWalkableGrid()
+{
+    walkable.assign(static_cast<size_t>(gridWidth * gridDepth), 0);
+
+    for (const NavigationArea& area : areas) {
+        if (area.available && !area.forbidden) {
+            for (int z = 0; z < gridDepth; ++z) {
+                for (int x = 0; x < gridWidth; ++x) {
+                    const Cell cell{ x, z };
+                    const Eigen::Vector3f center = cellCenter(cell);
+                    if (pointInPolygon(center.x(), center.z(), area.polygon)) {
+                        walkable[static_cast<size_t>(indexOf(cell))] = 1;
+                    }
+                }
+            }
+        }
+    }
+
+    for (const NavigationArea& area : areas) {
+        if (area.forbidden) {
+            for (int z = 0; z < gridDepth; ++z) {
+                for (int x = 0; x < gridWidth; ++x) {
+                    const Cell cell{ x, z };
+                    const Eigen::Vector3f center = cellCenter(cell);
+                    if (pointInPolygon(center.x(), center.z(), area.polygon)) {
+                        walkable[static_cast<size_t>(indexOf(cell))] = 0;
+                    }
+                }
+            }
+        }
+    }
+
     markObstacleMeshesBlocked();
 }
 

src/navigation/PathFinder.h

@@ -22,6 +22,7 @@ public:
     struct NavigationArea {
         std::string name;
         bool available = true;
+        bool forbidden = false;
         std::vector<Eigen::Vector2f> polygon;
     };